In accordance with one or more embodiments herein, a system for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the created decision support material comprises one or more damage images, is provided. The system comprises a storage media and at least one processor, wherein the at least one processor is configured to i) receive a series of radiology images of the at least part of the anatomical joint from the storage media; ii) obtain a three-dimensional image representation of the at least part of the anatomical joint which is based on at least a part of said series of radiology images, by generating said three-dimensional image representation in an image segmentation process based on said series of radiology images, or receiving said three-dimensional image representation from a storage media; iii) identify tissue parts of the anatomical joint in at least one of at least a part of said series of radiology images and/or the three-dimensional image representation using image analysis; iv) determine damage to the identified tissue parts in the anatomical joint by analyzing at least one of at least a part of said series of radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint; v) determine suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage; vi) mark damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the anatomical joint; and vii) generate a decision support material, where the determined damage to the at least part of the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the one or more damage images is generated based on the obtained three-dimensional image representation of the at least part of the anatomical joint.
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10. A method for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the created decision support material comprises one or more damage images, the method comprising the steps of:
i) receiving a series of radiology images of the at least part of the anatomical joint;
ii) obtaining a three-dimensional image representation of the at least part of the anatomical joint which is based on at least a part of said series of radiology images, by generating said three-dimensional image representation in an image segmentation process based on said series of radiology images, or receiving said three-dimensional image representation from a storage media;
iii) identifying tissue parts of the anatomical joint in at least one of at least a part of said series of radiology images using image analysis;
iv) determining damage to the identified tissue parts in the anatomical joint by analyzing at least one of the at least a part of said series of radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint;
v) determining suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage;
vi) marking damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the at least part of the anatomical joint; and
vii) generating a decision support material, where the determined damage to the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the one or more damage images is generated based on the obtained three-dimensional image representation of the at least part of the anatomical joint.
1. A system for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the created decision support material comprises one or more damage images, the system comprising a storage media and at least one processor, wherein the at least one processor is configured to:
i) receive a series of radiology images of the at least part of the anatomical joint from the storage media;
ii) obtain a three-dimensional image representation of the at least part of the anatomical joint which is based on at least a part of said series of radiology images, by generating said three-dimensional image representation in an image segmentation process based on said series of radiology images, or receiving said three-dimensional image representation from a storage media;
iii) identify tissue parts of the anatomical joint in at least one of at least a part of said series of radiology images and/or the three-dimensional image representation using image analysis;
iv) determine damage to the identified tissue parts in the anatomical joint by analyzing at least one of at least a part of said series of radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint;
v) determine suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage;
vi) mark damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the anatomical joint; and
vii) generate a decision support material, where the determined damage to the at least part of the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the one or more damage images is generated based on the obtained three-dimensional image representation of the at least part of the anatomical joint.
2. The system according to
3. The system according to
detecting high contrast areas such as edges or contours in the radiology image; and
identifying structures, such as bone and/or cartilage, in the radiology image through comparing the detected areas with predefined templates.
4. The system according to
detecting an irregular shape of a contour of at least one tissue part of the anatomical joint; or
detecting that the intensity in an area within or adjacent to bone and/or cartilage parts of the anatomical joint is higher or lower than a predetermined value; or
comparing at least one identified tissue part with a template representing a predefined damage pattern for an anatomical joint.
5. The system according to
6. The system according to
7. The system according to
8. The system according to
select a suitable implant from a predefined set of implants with varying dimensions, and/or propose a transfer guide tool for graft transplantation, possibly including suitable size and/or suitable harvesting and/or implantation positions for at least one graft plug based on data from the radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint; and to
visualize the selected implant and/or the transfer guide tool and/or the suitable harvesting and/or implantation positions for at least one graft plug in at least one of the one or more damage images.
9. The system according to
11. The method according to
12. The method according to
detecting high contrast areas such as edges or contours in the radiology image; and
identifying structures, such as bone and/or cartilage, in the radiology image through comparing the detected edges or contours with predefined templates.
13. The method according to
detecting an irregular shape of a contour of the at least one tissue part of the anatomical joint; or
detecting that the intensity in an area within or adjacent to bone and/or cartilage parts of the anatomical joint is higher or lower than a predetermined value; or
comparing at least one identified tissue part with a template representing a predefined damage pattern for an anatomical joint.
14. The method according to
15. The method according to
16. The method according to
17. The method according to
selecting a suitable implant from a predefined set of implants with varying dimensions, and/or proposing a transfer guide tool for graft transplantation, possibly including suitable size and/or suitable harvesting and/or implantation positions for at least one graft plug based on data from the radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint; and
visualizing the selected implant and/or the transfer guide tool and/or the suitable harvesting and/or implantation positions for at least one graft plug in at least one of the one or more damage images.
18. The method according to
19. A decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the decision support material comprises one or more damage images generated by the method steps of
20. A non-transitory machine-readable medium on which is stored machine-readable code which, when executed by a processor, controls the processor to perform the method steps of
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This application is a continuation-in-part of U.S. application Ser. No. 16/886,650, filed May 28, 2020, entitled “SYSTEM AND METHOD FOR CREATING A DECISION SUPPORT MATERIAL INDICATING DAMAGE TO AN ANATOMICAL JOINT,” which is a continuation of U.S. application Ser. No. 15/971,849, filed May 4, 2018, now issued as U.S. Pat. No. 10,672,124, entitled “SYSTEM AND METHOD FOR CREATING A DECISION SUPPORT MATERIAL INDICATING DAMAGE TO AN ANATOMICAL JOINT,” which is a continuation of U.S. application Ser. No. 15/611,685, filed Jun. 1, 2017, now issued as U.S. Pat. No. 9,990,720, entitled “SYSTEM AND METHOD FOR CREATING A DECISION SUPPORT MATERIAL INDICATING DAMAGE TO AN ANATOMICAL JOINT,” which is a continuation of U.S. application Ser. No. 15/382,523, filed Dec. 16, 2016, now issued as U.S. Pat. No. 9,697,601, entitled “SYSTEM AND METHOD FOR CREATING A DECISION SUPPORT MATERIAL INDICATING DAMAGE TO AN ANATOMICAL JOINT,” which claims benefit of EP Application No. 15201361.1, filed Dec. 18, 2015, the contents of which are incorporated by reference herein in their entirety.
The present disclosure relates generally to systems and methods for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient.
In order to determine damage to an anatomical joint, it is common in medical practice today to use imaging techniques to depict the anatomical joint of interest and further to have a medical expert analyze the captured image data to determine whether there is damage. The medical expert then makes annotations about the conclusions drawn from the analysis of image data. The annotations are made available to a surgeon or orthopedic staff member who uses the annotations and the captured image data as a decision support for diagnosis and decision of suitable treatment of the patient.
However, this process is not very efficient as a manner of providing decision support, as only a fraction of the information that the medical expert in this way gathers when analyzing the image data, based on the knowledge of the medical expert, can be communicated in the present annotation format. Therefore, the decision support material received by the surgeon or orthopedic staff member is often inadequate.
Pierre Dodin et al: “A fully automated system for quantification of knee bone marrow lesions using MRI and the osteoarthritis initiative cohort”, Journal of Biomedical Graphics and Computing, 2013, Vol. 3, No. 1, 20 Nov. 2012 describes an automated BML quantification method.
WO 2015/117663 describes a method of manufacturing a surgical kit for cartilage repair in an articulating surface of a joint in which a three dimensional image representation of a surface of the joint is generated.
The method described in “A fully automated system for quantification of knee bone marrow lesions using MRI and the osteoarthritis initiative cohort” only detects bone marrow lesions, i.e. lesions in the cancellous bone—not even damage to the subchondral bone plate will be detected. This does not provide conclusive information regarding anything except the cancellous bone—it is not possible to draw definite conclusions regarding the cartilage status or the functioning of the joint. If there e.g. is a problem with just the cartilage, this will not be detected using the method described in the article. Further, it is not possible to judge the extent of the damage to a joint using just BML detection.
There is a need to address these problems of conventional methods and systems.
The above described problems are addressed by the claimed system for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the created decision support material comprises one or more damage images. The system comprises a storage media and a processor which is configured to: i) receive a series of radiology images of the at least part of the anatomical joint from the storage media; ii) obtain a three-dimensional image representation of the at least part of the anatomical joint which is based on said series of radiology images by generating said three-dimensional image representation in an image segmentation process based on said series of radiology images, or receiving said three-dimensional image representation from the storage media; iii) identify tissue parts of the anatomical joint in at least one of the series of radiology images and/or the three-dimensional image representation using image analysis; iv) determine damage to the anatomical joint by analyzing at least one of the series of radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint; v) determine suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage; vi) mark damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the at least part of the anatomical joint; and vii) generate a decision support material, where damage to the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the damage images is generated based on the obtained three-dimensional image representation of the at least part of the anatomical joint. The claimed system creates a decision support material which clearly visualizes the extent of damage to the joint or a part of the joint.
The series of radiology images may be captured during a process of radiology scanning through different layers of the anatomical joint or part of it, which captures all the radiology image data necessary to generate a three-dimensional image representation of the anatomical joint or part of it in an image segmentation process based on said radiology images. The radiology images may be any type of medical images, such as e.g. MR images, CT images, PET images and ultrasonic images, where the radiology scanning is done using the respective medical imaging techniques.
The processor may be configured to identify bone parts and/or cartilage parts of the joint in the radiology image by detecting high contrast areas such as edges or contours in the radiology image, and identifying structures, such as bone and/or cartilage, in the radiology image through comparing the detected edges or contours with predefined templates.
The processor may, also or alternatively, be configured to associate the radiology images and the three-dimensional image representation, so that a marking made in one of the images appears in the same position in the other image. This simplifies the marking process.
The processor may, also or alternatively, be configured to select a suitable treatment from a predefined set of treatments based on data from the radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint. The treatment may e.g. be the selection of a suitable implant from a predefined set of implants with varying dimensions, or the proposal of a transfer guide tool for graft transplantation, possibly including suitable size and/or suitable harvesting and/or implantation positions for osteochondral autograft or allograft plugs. In this case, the processor may further be configured to visualize the selected implant and/or the suitable transfer guide tool and/or the suitable harvesting and/or implantation positions for at least one osteochondral autograft or allograft plug in at least one of the one or more damage images.
The decision support material may thus include a visualization of suitable sizes and suitable implanting positions for one or more graft plugs such as osteochondral autograft plugs and/or osteochondral allograft plugs in at least one of the one or more damage images, based on the determined damage. A suitable graft plug preferably comprises a bone plug with a layer of cartilage on top. The recommended size of a graft plug may comprise just the diameter, or both the diameter and the height. In embodiments, the decision support material comprises an analysis of a specific potential donor part together with an evaluation of whether this specific donor part is suitable for harvesting a graft plug of the desired size and curvature.
The above described problems are also addressed by the claimed method for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the created decision support material comprises one or more damage images. The method comprises the steps of: i) receiving a series of radiology images of the at least part of the anatomical joint; ii) obtaining a three-dimensional image representation of the at least part of the anatomical joint which is based on said series of radiology images by generating said three-dimensional image representation in an image segmentation process based on said series of radiology images, or receiving said three-dimensional image representation from the storage media; iii) identifying tissue parts of the anatomical joint in at least one of the series of radiology images using image analysis; iv) determining damage to the anatomical joint by analyzing said at least one of the series of radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint using the identified tissue parts and a selection of: detecting an irregular shape of a contour of at least one tissue part of the anatomical joint; and/or detecting that the intensity in an area within or adjacent to bone and/or cartilage parts of the anatomical joint is higher or lower than a predetermined value; and/or comparing at least one identified tissue part with a template representing a predefined damage pattern for an anatomical joint; v) determining suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage; vi) marking damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the at least part of the anatomical joint; and vii) generating a decision support material, where the determined damage to the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the damage images is generated based on the obtained three-dimensional image representation of the at least part of the anatomical joint. The claimed method creates a decision support material which clearly visualizes the extent of damage to the joint or a part of the joint.
The image analysis may identify bone parts and/or cartilage parts of the joint in the radiology image by the steps of detecting high contrast areas such as edges or contours in the radiology image, and identifying structures, such as bone and/or cartilage, in the radiology image through comparing the detected edges or contours with predefined templates.
The radiology images and the three-dimensional image representation may be associated so that a marking made in one of the images appears in the same position in the other image. This simplifies the marking process.
The method may further comprise selecting a suitable treatment from a predefined set of treatments based on data from the radiology images and/or the three-dimensional image representation of the at least part of the anatomical joint. The treatment may e.g. be the selection of a suitable implant from a predefined set of implants with varying dimensions, or the proposal of a transfer guide tool for osteochondral autograft or allograft transplantation, possibly including suitable size and/or suitable harvesting and/or implantation positions for osteochondral autograft or allograft plugs. In this case, the method may further comprise visualizing the selected implant and/or the suitable transfer guide tool and/or the suitable harvesting and/or implantation positions for at least one osteochondral autograft or allograft plug in at least one of the one or more damage images.
The method may thus further comprise visualizing suitable sizes and suitable implanting positions for one or more graft plugs such as osteochondral autograft plugs and/or osteochondral allograft plugs in at least one of the one or more damage images, based on the determined damage. A suitable graft plug preferably comprises a bone plug with a layer of cartilage on top. The recommended size of a graft plug may comprise just the diameter, or both the diameter and the height. In embodiments, the decision support material comprises an analysis of a specific potential donor part together with an evaluation of whether this specific donor part is suitable for harvesting a graft plug of the desired size and curvature.
In the above described systems and methods, the image segmentation process may e.g. depend on a segmentation process control parameter set. If the image analysis identifies both bone parts and cartilage parts of the anatomical joint, damage may be determined to both the bone parts and the cartilage parts. The anatomical joint may be a knee, but may also be another joint such as an ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist. The decision support material may e.g. be adapted to be used by medical staff. It may include a recommendation for a suitable treatment for repair of the determined damage.
The above described problems are also addressed by a decision support material indicating damage to at least a part of an anatomical joint of a patient, wherein the decision support material comprises one or more damage images generated by the method steps of any one of the above described methods.
The above described problems are also addressed by a non-transitory machine-readable medium on which is stored machine-readable code which, when executed by a processor, controls the processor to perform any one of the above described methods.
In this application, the term “radiology images” encompasses all types of medical images, such as e.g. MR images, CT images, PET images and ultrasonic images. Medical image data may comprise 3D image data and/or 2D image data obtained using different medical imaging systems.
The scope of the invention is defined by the claims, which are incorporated into this section by reference. A more complete understanding of embodiments of the invention will be afforded to those skilled in the art, as well as a realization of additional advantages thereof, by a consideration of the following detailed description of one or more embodiments. Reference will be made to the appended sheets of drawings that will first be described briefly.
Embodiments of the present disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures.
The present disclosure relates generally to systems and methods for creating a decision support material indicating damage to at least a part of an anatomical joint of a patient.
More specifically, system and method embodiments presented herein provide an improved decision support material by creating one or more damage images of at least a part of an anatomical joint of a patient, wherein damage to the joint or a part of the joint is marked in at least one of the one or more damage images. In other words, there is provided one or more visualizations of a patient's joint together with indications/markings/visualization of its anatomical deviations, which forms a decision support for a surgeon or orthopedic staff member in deciding on an optimal treatment method, a decision support for an insurance agent making an assessment regarding a client or potential client, a decision support for a patient who wants to be informed about the condition of a damaged joint, or a decision support for any other person that has for example a commercial or academic interest in learning about damage to a depicted anatomical joint. This provides great advantages compared to conventional systems and methods, as much more information obtained from the medical image data is communicated, for example to the person making the decision on treatment of the patient. Thereby, embodiments of the invention solve the identified problems that the decision support material received by the surgeon or orthopedic staff member is many times inadequate as only a fraction of the information that a medical expert gathers when analyzing the image data, based on the knowledge of the medical expert, is communicated. In other words, using embodiments presented herein, an improved decision support material is obtained, which leads to more informed decisions being made on the optimal treatment of the patient whose anatomical joint is depicted in the decision support material.
In some embodiments, the anatomical joint is a knee, but the methods and systems presented herein may be used for deriving damage images of any suitable anatomical joint, e.g. an ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist. Damage need not be determined to a whole anatomical joint—often only a part of the joint is of interest, such as the femoral part and/or the patella of the knee joint.
In a non-limiting example, the anatomical joint is a knee and the damage/anatomical deviations that are determined and indicated/marked/visualized in the damage image are related to the femoral part of the knee joint and/or the patella, such as chondral and/or osteochondral lesions. In another non-limiting example, the anatomical joint is an ankle and the damage/anatomical deviations that are determined and indicated/marked/visualized in the damage image are related to the talus.
The damage image may comprise image data from a 2D representation of a generated 3D model of the anatomical joint, and/or comprise 2D image data retrieved directly from a digital imaging and communications in medicine (DICOM) file or any other suitable image file format. The 3D model may for example be generated based on a series of radiology images captured during a process of scanning radiology images through different layers of the anatomical joint or part of it, which captures all the radiology image data necessary to generate a 3D image representation of the anatomical joint or part of it in an image segmentation process based on said radiology images. A 3D model is advantageous for visualizing damage to bone, cartilage and other tissues. The DICOM format, or a comparable image file format, is advantageous for visualizing different parts of the anatomical joint.
For example, a 3D model may be used for visualizing bone and tissues such as cartilage, tendons and/or ligaments, and damages in relation to femoral knee bone or patella and cartilage, or bone and cartilage of any other relevant anatomical joint that is being investigated. In another example, the DICOM format, or a comparable image file format, may be used for visualizing different parts of a knee, such as the femoral condyle and the trochlea area, or different parts of any other relevant anatomical joint that is being investigated, such as the talus of the ankle.
One or more damage images may be included in a damage assessment report that forms a decision support material to, for instance, facilitate for a surgeon or orthopedic staff member to make a correct diagnosis and decide on an optimal treatment of the patient. The one or more damage images, or the damage assessment report including the one or more damage images, do not include any diagnosis. Instead, they form a decision support for making a correct diagnosis and/or decide on an optimal treatment of the patient. The decision support material comprising one or more damage images, or a damage assessment report including one or more damage images, may for instance be used as a pre-arthroscopic tool, a digital version of standard arthroscopy to be used prior to an arthroscopy to give an arthroscopist a visual understanding of what he/she can expect to see. The decision support material may also be used as an alternative to arthroscopy, since enough information can often be gathered in this way without submitting the patient to an arthroscopy. The decision support material may in this case be used for planning the preferred treatment, such as an arthroplasty, a biological treatment such as a mosaicplasty of a microfracturing, or if a metal implant is needed.
In other examples, other types of users may receive and use the decision support material for different purposes. The decision support material, in the form of one or more damage images, or in the form of a damage assessment report including one or more damage images, may in different situations be of interest to medical staff, an insurance agent assessing a client or a potential client, a patient who wants to be informed about the condition of a damaged joint, or any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint. In different embodiments, the damage image or damage assessment report may be represented in printed form or in digital form. In digital form, the damage image, or the one or more damage images included in the damage assessment report, may be in static format or in a format allowing a user who is viewing a damage image on a display of a processing device to manipulate the image, by providing a control signal using an inputter connected to the processing device. The inputter may for example comprise a keyboard, a computer mouse, buttons, touch functionality, a joystick, or any other suitable input device.
In some embodiments, the decision support material may further include a recommendation and/or a position indication of a suitable implant for the determined bone and/or cartilage damage. In this context, a suitable implant means an implant having a type and dimensions that match a determined damage, thereby making it suitable for repairing the determined damage. Such a suitable implant may further be visualized in the damage image or damage report.
The decision support material may in some embodiments instead include a recommendation indicating a suitable transfer guide tool and/or suitable harvesting and/or implantation positions for at least one osteochondral autograft or allograft plug. The suitable transfer guide tool and/or the suitable harvesting and implantation positions may further be visualized in the damage image or damage report.
The decision support material may thus include a visualization of suitable sizes and suitable implanting positions for one or more graft plugs such as osteochondral autograft plugs and/or osteochondral allograft plugs in at least one of the one or more damage images, based on the determined damage. As a part of determining the damage, a cross-section area of damage to the bone underlying the damaged cartilage may be determined. This cross-section area may in this case be used for determining the suitable size of one or more graft plugs to be used for repairing the determined damage. One or more circles or ovals may be used to approximate this cross-section area, in order to enable the use of cylindrical graft plugs. Cylindrical graft plugs are generally easier to implant, since a recess for a cylindrical graft plug can simply be drilled, while milling is generally needed in order to create a recess for an oval plug. Such circles or ovals may in embodiments be visualized in one or more damage images. In embodiments, one or more cylinders representing cylindrical graft plugs to be implanted may be visualized in one or more damage images. In embodiments, the decision support material comprises an analysis of a specific potential donor part together with an evaluation of whether this specific donor part is suitable for harvesting a graft plug of the desired size and curvature.
In some embodiments, the decision support material further indicates anatomical deviations which do not in themselves constitute damage to the joint. Such anatomical deviations may e.g. affect the choice of treatment for the determined damage. As a non-limiting example, severe osteophyte problems may indicate other problems, where an implant or a graft plug may not improve the situation.
The processor may in some embodiments comprise several different processors which together perform the claimed functions. In the same way, the storage media may in some embodiments comprise several different storage media which together perform the claimed functions.
System and method embodiments of the disclosed solution are presented in more detail in connection with the figures.
System Architecture
The system 100 further comprises a processor 120 configured to, based on image data, determine damage in an anatomical joint, and create a damage image of the anatomical joint or a part of it where the determined damage to the joint is marked, or in other ways visualized, such that an observer of the damage image is made aware of the damage. The processor 120 may for example be a general data processor, or other circuit or integrated circuit capable of executing instructions to perform various processing operations.
In one or more embodiments, the processor is configured to: receive a series of radiology images of at least a part of the anatomical joint from the storage media; obtain a three-dimensional image representation of the at least part of the anatomical joint which is based on said series of radiology images by generating said three-dimensional image representation in an image segmentation process based on said series of radiology images, and/or receiving said generated three-dimensional image representation from the storage media; identify tissue parts of the anatomical joint in at least one of the series of radiology images, and/or the three-dimensional image representation, using image analysis; determine damage to the anatomical joint by analyzing said radiology image and/or the three-dimensional image representation of the anatomical joint or part of it; and determine suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage. The processor 120 may be configured to use the identified tissue parts and perform a selection of the following image analysis and processing operations:
The processor 120 is further configured to mark damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the anatomical joint or part of it; and generate a decision support material where the determined damage to the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the damage images is generated based on the obtained three-dimensional image representation of the anatomical joint or part of it.
It may in some embodiments be advantageous to identify and analyze bone and cartilage of the depicted joint in the input radiology image/medical image data, as the combination of the two may provide additional information, but all embodiments described herein can also be performed when other tissues of the depicted joint are identified and analyzed.
In one or more embodiments, the processor 120 may be configured to identify bone parts and/or cartilage parts of the joint in the radiology image by detecting high contrast areas such as edges or contours in the radiology image. The processor 120 may further be configured to identify structures such as bone and/or cartilage in the radiology image by comparing detected edges or contours, and/or comparing intensity levels or patterns, with predefined templates.
As disclosed above, in one or more embodiments the processor 120 may be configured to, in the step of determining that there is damage by performing a selection of image analysis and processing operations, detect that the intensity in an area within or adjacent to the bone and/or cartilage parts of the anatomical joint is higher or lower than a predetermined threshold. Depending on the settings of the imaging device that has captured the analyzed medical image data, the analyzed image may for example represent the following substances with different intensity levels: cortical bone, fluid/liquids, cartilage, fat/bone marrow and meniscus. It is for example an indication of damage if fluid is detected where there in a healthy joint should be no fluid. If fluid is detected next to abnormalities in the cartilage, this can also be an indication of damage.
Different intensity levels in the analyzed image correspond to different signal intensity levels, and these may typically be represented by pixel/voxel values ranging from 0 to 1, or in a visual representation shown as grey scale levels from white to black. In embodiments where the pixel/voxel values range from 0 to 1, a predetermined threshold is set to a suitable value between 0 and 1, or in other words to a suitable grey scale value. In one or more embodiments the processor 120 may further, or alternatively, be configured to, in the step of performing a selection of image analysis and processing operations, detect an irregular shape of at least one tissue part of the anatomical joint and determine whether this represents a damage to the anatomical joint. In one or more embodiments the processor 120 may further, or alternatively, be configured to, in the step of performing a selection of image analysis and processing operations make a comparison of an identified tissue part in a damage image with a template representing a predefined damage pattern for an anatomical joint. In some embodiments, such a determination may include comparing a detected irregular shape of the contour with a template representing a predefined damage pattern for an anatomical joint, and/or comparing a detected intensity for a certain area with a template representing a predefined damage pattern for an anatomical joint.
In one or more embodiments, the processor 120 may be configured to mark, visualize or in another way indicate a determined damage to the anatomical joint in at least one of the one or more damage images of the decision support material. To mark, visualize or indicate the determined damage, the processor 120 may be configured to change the pixel/voxel value of one or more pixels/voxels on, in connection with, or surrounding a pixel/voxel identified to belong to a determined damage, such that the determined damage is visually distinguished and noticeable to a user/viewer, by performing a selection of the following:
In one or more embodiments, the processor 120 may be configured to mark damage to the anatomical joint in the obtained three-dimensional image representation of the anatomical joint or part of it. To mark damage, the processor 120 may be configured to change the voxel value of one or more voxels on, in connection with, or surrounding a voxel identified to belong to a determined damage, such that the determined damage is visually distinguished and noticeable to a user/viewer, by performing a selection of the following:
In one or more embodiments, the processor may be configured to synchronize, or associate, the series of radiology images and the three-dimensional (3D) image representation, so that a marking made in one of the images appear in real time in the same position in the other image. The same position is hereinafter interpreted as the same position, or same location, on the anatomical joint that is depicted. As the 3D image representation is generated based on the radiology image data, the synchronization or association between the 2D radiology image data and the 3D representation can be automatically performed by the processor during the segmentation of radiology image data into a 3D representation, in manners known in the art.
The series of radiology images may for example be captured during a process of scanning radiology images through different layers of the anatomical joint or part of it, which captures all the radiology image data necessary to generate a three-dimensional image representation of the anatomical joint or part of it in an image segmentation process based on the radiology images. The radiology images may be any type of medical images, such as e.g. MR images, CT images, PET images and ultrasonic images, where the radiology scanning is done using the respective medical imaging systems. In some embodiments, damage may be determined for both bone parts and cartilage parts of the anatomical joint. Alternatively, damage to bone parts only, or damage to cartilage parts only, or damage to other tissue parts, may be determined, depending on the application.
In some embodiments, the anatomical joint is a knee. In other embodiments, the anatomical joint may be any other anatomical joint suitable for damage determination using image data analysis, such as ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist.
In one or more embodiments, the processor may be configured to select a suitable treatment from a predefined set of treatments. The selection may be based on data from the radiology image and/or the three-dimensional image representation of the anatomical joint or part of it.
In some embodiments, the processor may be configured to select a suitable implant from a predefined set of implants with varying dimensions. In this context, a suitable implant means an implant having a type and dimensions that match a determined damage, thereby making it suitable for repairing the determined damage. In one or more embodiments, the processor may be configured to visualize the selected implant in at least one of the one or more damage images.
In some embodiments, the processor may be configured to propose a transfer guide tool for osteochondral autograft or allograft transplantation, possibly also including suitable size and/or suitable harvesting and/or implantation positions for at least one osteochondral autograft or allograft plug. In this context, a suitable harvesting position means a position where a suitable autograft plug can be harvested from the patient for repairing the determined damage. A suitable graft plug preferably comprises a bone plug with a layer of cartilage on top.
As a part of determining the damage, a cross-section area of damage to the bone underlying the damaged cartilage may be determined. This cross-section area may in this case be used for determining the suitable size of one or more graft plugs to be used for repairing the determined damage. One or more circles or ovals may be used to approximate this cross-section area, in order to enable the use of cylindrical graft plugs. Cylindrical graft plugs are generally easier to implant, since the recess for a cylindrical graft plug can simply be drilled, while milling is generally needed in order to create a recess for an oval plug. Such circles or ovals may in embodiments be visualized in one or more damage images. In embodiments, one or more cylinders representing cylindrical graft plugs to be implanted may be visualized in one or more damage images.
In some embodiments, the decision support material is adapted to be used by medical staff, for example a surgeon or orthopedic staff member. The decision support material may then include a recommendation for a suitable treatment for repair of at least a part of the determined damage.
Alternatively, the decision support material includes a recommendation for a suitable design of one or more transfer guide tools for repair of at least a part of the determined damage with osteochondral autograft or allograft transplantation. The decision support material may in this case also include a recommendation for a suitable harvesting site for such an osteochondral autograft or allograft plug. Such suitable harvesting sites and/or transfer guide tools may further be visualized in the damage image or damage report. A suitable graft plug preferably comprises a bone plug with a layer of cartilage on top. The recommended size of a graft plug may comprise just the diameter, or both the diameter and the height.
The decision support material may thus include a visualization of suitable sizes and suitable implanting positions for one or more graft plugs such as osteochondral autograft plugs and/or osteochondral allograft plugs in at least one of the one or more damage images, based on the determined damage. As a part of determining the damage, a cross-section area of damage to the bone underlying the damaged cartilage may be determined. This cross-section area may in this case be used for determining the suitable size of one or more graft plugs to be used for repairing the determined damage. One or more circles or ovals may be used to approximate this cross-section area, in order to enable the use of cylindrical graft plugs. Cylindrical graft plugs are generally easier to implant, since the recess for a cylindrical graft plug can simply be drilled, while milling is generally needed in order to create a recess for an oval plug. Such circles or ovals may in embodiments be visualized in one or more damage images. In embodiments, one or more cylinders representing cylindrical graft plugs to be implanted may be visualized in one or more damage images. In embodiments, the decision support material comprises an analysis of a specific potential donor part together with an evaluation of whether this specific donor part is suitable for harvesting a graft plug of the desired size and curvature.
In some embodiments, the damage image is part of a decision support material adapted to be used by an insurance agent making an assessment regarding a client or potential client; a patient who wants to be informed about the condition of a damaged joint; or any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint.
The decision support material may be in the form of a printed report, or in the form of one or more computer files adapted to be viewed on e.g. a tablet computer or a smart phone. If the decision support material is in the form of one or more computer files, the one or more damage images may be in the form of regular 2D images or in the form of an interactive 3D model of the anatomical joint or part of it.
In one or more embodiments, the system 100 may optionally comprise a display 140 configured to display image data, for example in the form of a damage image or a damage assessment report comprising one or more damage images. The display 140 may be configured to receive image data for display via the processor 120, and/or to retrieve image data for display directly from the storage media 110, possibly in response to a control signal received from the processor 120 or an inputter 150, which is further presented below.
In some embodiments, the system 100 may further optionally comprise one or more inputters 150 configured to receive user input. The inputter 150 is typically configured to interpret received user input and to generate control signals in response to said received user input. The display 140 and the inputter 150 may be integrated in, connected to or communicatively coupled to the system 100. The inputter 150 may for instance be configured to interpret received user input that is being input in connection with a displayed damage image, or a displayed damage assessment report comprising one or more damage images, and generate control signals in response to said received user input, to trigger display of an image or manipulation of image data being displayed, wherein the manipulations may be temporary or permanent. Such manipulations may for example include providing annotations, moving or changing an image or part of an image, changing the viewing perspective, zooming in or out, and/or any other suitable form of manipulation that enables the user to view and analyze the displayed image data in an improved manner. An inputter 150 may for example comprise a selection of a keyboard, a computer mouse, one or more buttons, touch functionality, a joystick, and/or any other suitable input device. In some embodiments, the processor 120 may be configured to receive a control signal from the inputter 150 and to process image data that is being displayed, or in other words manipulate a displayed image, in response to the received control signal.
The processor 120 may further be configured to perform the method steps of any or all of the embodiments presented herein.
In step 210: receiving a series of radiology images of the at least part of the anatomical joint of a patient.
In some embodiments, the anatomical joint is a knee. In other embodiments, the anatomical joint may be any other anatomical joint suitable for damage determination using image data analysis, such as ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist.
In step 220: obtaining a three-dimensional image representation of the at least part of the anatomical joint which is based on said series of radiology images by generating said three-dimensional image representation in an image segmentation process based on said radiology images, or receiving said three-dimensional image representation from a storage media.
In step 230: identifying tissue parts of the anatomical joint in at least one of the series of radiology images using image analysis. The tissue parts may in embodiments include cartilage, tendons and/or ligaments.
In one or more embodiments, the image analysis identifies bone parts and/or cartilage parts of the joint in the radiology image by the steps of detecting high contrast areas such as edges or contours in the radiology image, and further identifying structures, such as bone and/or cartilage, in the radiology image through comparing the detected edges or contours with predefined templates.
In some embodiments, damage may be determined for both bone parts and cartilage parts of the anatomical joint.
It may in some embodiments be advantageous to identify and analyze bone and cartilage of the depicted joint in the input radiology image/medical image data, as the combination of the two may provide additional information, but all embodiments described herein can also be performed when only one of the substances bone and cartilage, or any other tissue part, of the depicted joint is being identified and analyzed.
In different embodiments, the analysis in step 230 may comprise performing a selection of any or all of the following image analysis and image processing operations:
In step 240: determining damage to the anatomical joint by analyzing the radiology image and/or the three-dimensional image representation of the anatomical joint or part of it.
In one or more embodiments, method step 240 may comprise detecting that the intensity in an area within or adjacent to the bone and/or cartilage parts of the anatomical joint is higher or lower than a predetermined threshold. Depending on the settings of the imaging device that has captured the analyzed medical image data, the analyzed image may for example represent the following substances with different intensity levels: cortical bone, liquids, cartilage, fat/bone marrow and meniscus. Different intensity levels in the analyzed image correspond to different signal intensity levels and these may typically be represented by pixel/voxel values ranging from 0 to 1, or in a visual representation shown as grey scale levels from white to black. In embodiments where the pixel/voxel values range from 0 to 1, a predetermined threshold is set to a suitable value between 0 and 1, or in other words to a suitable grey scale value.
In one or more embodiments, method step 240 may further, or alternatively, comprise detecting an irregular shape of a contour of the at least one tissue part of the anatomical joint and determine whether this represents a damage to the anatomical joint.
In one or more embodiments, method step 240 may further, or alternatively, comprise making a comparison of an identified tissue part in a damage image with a template representing a predefined damage pattern for an anatomical joint. In some embodiments, such a determination may include comparing a detected irregular shape of the contour with a template representing a predefined damage pattern for an anatomical joint, and/or comparing a detected intensity for a certain area with a template representing a predefined damage pattern for an anatomical joint.
In step 250: determining suitable sizes and suitable implanting positions for one or more graft plugs based on the determined damage.
In step 260: marking damage to the anatomical joint and suitable sizes and implanting positions for the one or more graft plugs in the obtained three-dimensional image representation of the anatomical joint or part of it.
In step 270: generating a decision support material, where damage to the anatomical joint and the suitable sizes and implanting positions for the one or more graft plugs are marked in at least one of the one or more damage images of the decision support material, and at least one of the damage images is generated based on the obtained three-dimensional image representation of the anatomical joint or part of it.
It may in some embodiments be advantageous to identify, in step 230, and analyze, in step 240, both bone and cartilage of the depicted joint in the input radiology image/medical image data, as the combination of the two may provide additional information, but all embodiments described herein may also be performed when only one of the two substances bone or cartilage or any other tissue part of the depicted joint is identified and analyzed.
In one or more embodiments, the marking of method steps 260 and 270 comprises marking, visualizing or in another way indicating the determined damage to the anatomical joint. Marking, visualizing, or indicating the determined damage may include changing the pixel/voxel value of one or more pixels/voxels on, in connection with, or surrounding a pixel/voxel identified to belong to a determined damage, such that the determined damage is visually distinguished and noticeable to a user/viewer. Such a change of pixel/voxel values of one or more pixels/voxels on, in connection with, or surrounding a pixel/voxel identified to belong to a determined damage may for example comprise a selection of the following:
In some embodiments, the radiology image and the three-dimensional image representation may be associated, or synchronized, so that a marking made in one of the images appear in the same position in the other image. According to one or more such embodiment, method steps 260 and 270 may comprise associating, or synchronizing, the radiology image and the three-dimensional image representation, so that a marking made in one of the images appear in the same position in the other image.
Examples of decision support material in the form of one or more damage images, or a damage report comprising one or more damage images, are discussed further in connection with
In step 480: selecting a suitable implant from a predefined set of implants with varying dimensions, based on data from the radiology image and/or the three-dimensional image representation of the anatomical joint or part of it.
In this context, a suitable implant means an implant having a type and dimensions that match a determined damage, thereby making it suitable for repairing the determined damage.
In step 490: visualizing the selected implant in at least one of the one or more damage images.
In some embodiments, the decision support material may further include a recommendation and/or a position indication of a suitable implant for the determined bone and/or cartilage damage. Such a suitable implant may further be visualized in the damage image or damage report.
An example of how a selected implant may be visualized in a damage image or damage report is shown in
The decision support material may in some embodiments instead include a recommendation indicating a suitable transfer guide tool and/or suitable harvesting and/or implantation positions for at least one osteochondral autograft or allograft plug. The suitable transfer guide tool and/or the suitable harvesting and implantation positions may further be visualized in the damage image or damage report.
The decision support material may thus include a visualization of suitable sizes and suitable implanting positions for one or more graft plugs such as osteochondral autograft plugs and/or osteochondral allograft plugs in at least one of the one or more damage images, based on the determined damage. As a part of determining the damage, a cross-section area of damage to the bone underlying the damaged cartilage may be determined. This cross-section area may in this case be used for determining the suitable size of one or more graft plugs to be used for repairing the determined damage. One or more circles or ovals may be used to approximate this cross-section area, in order to enable the use of cylindrical graft plugs. Cylindrical graft plugs are generally easier to implant, since a recess for a cylindrical graft plug can simply be drilled, while milling is generally needed in order to create a recess for an oval plug. Such circles or ovals may in embodiments be visualized in one or more damage images. In embodiments, one or more cylinders representing cylindrical graft plugs to be implanted may be visualized in one or more damage images.
An example of a damage image that may be used to visualize osteochondral autograft implantation is shown in
An example of how a suitable graft plug may be marked/visualized in a damage image or damage report is shown in
In one or more embodiments, the decision support material is adapted to be used by medical staff, for example a surgeon or orthopedic staff member. In one or more embodiments, the decision support material is adapted to be used by medical staff, for example a surgeon or orthopedic staff member, and further includes a recommendation for a suitable implant, according to any of the embodiments described in connection with
In some embodiments, the decision support material is adapted to be used by an insurance agent making an assessment regarding a client or potential client; a patient who wants to be informed about the condition of a damaged joint; or any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint.
In some embodiments, the decision support material comprises a 2D and a 3D image representing a 3D visualization or 3D model of at least a part of an anatomical joint of a patient, visual marking/indication of a damage to the joint, and an annotation/a written assessment of anatomical deviations.
In one or more embodiments, the methods of
In one or more embodiments, a damage image or another part of a damage assessment report or decision support material that is being displayed may be manipulated by a user using one or more inputters integrated in, connected to, or communicatively coupled to the display or a system comprising the display. According to these embodiments, the method of
The foregoing disclosure is not intended to limit the present invention to the precise forms or particular fields of use disclosed. It is contemplated that various alternate embodiments and/or modifications to the present invention, whether explicitly described or implied herein, are possible in light of the disclosure. Accordingly, the scope of the invention is defined only by the claims.
To set the presently disclosed methods and systems in a larger context, the damage marking and the generation of one or more damage images, and/or damage report, according to any of the disclosed embodiments, may in use case embodiments be preceded by capturing and/or obtaining medical image data representing an anatomical joint or part of it, and may further be followed by actions to be taken in view of repairing any determined damage.
According to the example shown in
The image data obtained in step 400 may further be processed in a step 710, by performing segmentation and 3D modulation to obtain a 3D representation of what is depicted in the captured image data. For instance, if the image data captured depict an anatomical joint, the 3D representation would be a 3D representation of the anatomical joint. Medical image data may also be obtained in a step 720 from a different kind of image source that provides 2D image data. The 3D image data and the 2D image data both depict the same object, namely the anatomical joint of interest for damage determination. The medical image data 730 may therefore, as described herein, comprise 3D image data and/or 2D image data representing an anatomical joint, obtained using different imaging systems. The image data may represent only a part of the anatomical joint.
In embodiments where the medical image data 730 comprises both 3D and 2D image data, the 3D and 2D image data may be combined into a single visual representation, or be separate visual representations. The separate visual representations may in embodiments be associated, or synchronized, such that a position on an object depicted in the 3D visual representation is associated with the same position on the same object in the 2D visual representation. Thereby, if a marking of a determined damage is done in the 3D visual representation, it will appear on the same position on the depicted anatomical joint in the 2D representation, and vice versa. Of course, once the 3D and 2D visual representations have been associated, or synchronized, the same would apply to for example annotations placed in connection with a position of the depicted joint, or any modification done to the 3D or 2D visual representation.
In a step 740, damage determination, marking of damage in the input medical image data 730 and generation of the output decision support material 750 is performed, in accordance with any of the embodiments presented herein in connection with the method and system descriptions. The decision support material 750 may, in accordance with embodiments described herein, be in the form of one or more damage images wherein determined image to the depicted anatomical joint is marked, or in the form of a report comprising one or more such images. The decision support material 750 may optionally, in accordance with embodiments described herein, comprise an indication of one or more suitable implants and/or guide tools that may be used for repairing a determined damage. In this context, a suitable implant and/or guide tool means an implant and/or guide tool having a type and dimensions that match the determined damage, thereby making it suitable for repairing the determined damage. The one or more suitable implants and/or guide tools may be selected in the optional step 760, and may be presented graphically in connection with the 3D and/or 2D visual representation(s) of the marked medical image data of the decision support material 750, for example in the position where the implant and/or guide tool should optimally be inserted to repair the determined damage. Alternatively, the one or more suitable implants and/or guide tools may be selected in the optional step 470 and may be presented separated from the 3D and/or 2D visual representations for example as a graphical representation and/or a text annotation.
In a use case embodiment, a medical staff member, for example a surgeon or orthopedic staff member, may use a generated decision support material 750 to make a correct diagnosis and make a decision 770 on an decision of optimal treatment of the patient whose anatomical joint has been depicted. If the medical staff member decides that an implant is required, this may lead up to the step 780 of designing and producing a suitable implant and/or guide tool, possible according to an indication that may be provided in the decision support material, as described herein, for repairing the determined damage.
In another use case embodiment, a person using the decision support material 750 may be a person other than a medical staff member that has an interest in learning about any damage to the depicted anatomical joint, for example an insurance agent assessing a client or a potential client, a patient who wants to be informed about the condition of a damaged joint, or any other person who has for example a commercial or academic an interest in learning about any damage to a depicted anatomical joint.
Where applicable, various embodiments provided by the present disclosure can be implemented using hardware, software, or combinations of hardware and software. Also where applicable, the various hardware components and/or software components set forth herein can be combined into composite components comprising software, hardware, and/or both without departing from the claimed scope of the present disclosure. Where applicable, the various hardware components and/or software components set forth herein can be separated into sub-components comprising software, hardware, or both without departing from the claimed scope of the present disclosure. In addition, where applicable, it is contemplated that software components can be implemented as hardware components, and vice-versa. The method steps of one or more embodiments described herein may be performed automatically, by any suitable processing unit, or one or more steps may be performed manually. Where applicable, the ordering of various steps described herein can be changed, combined into composite steps, and/or separated into sub-steps to provide features described herein.
Software in accordance with the present disclosure, such as program code and/or data, can be stored in non-transitory form on one or more machine-readable mediums. It is also contemplated that software identified herein can be implemented using one or more general purpose or specific purpose computers and/or computer systems, networked and/or otherwise.
In embodiments, there are provided a computer program product comprising computer readable code configured to, when executed in a processor, perform any or all of the method steps described herein. In some embodiments, there are provided a non-transitory computer readable memory on which is stored computer readable and computer executable code configured to, when executed in a processor, perform any or all of the method steps described herein.
In one or more embodiments, there is provided a non-transitory machine-readable medium on which is stored machine-readable code which, when executed by a processor, controls the processor to perform the method of any or all of the method embodiments presented herein.
Bake, Nina, Karlsson, Anders, Lilliestråle, Richard, Spångberg, Jeanette
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